OpenRaiser/Intern-Atlas huggingface dataset:
Decentralised Emergence of Robust and Adaptive Linguistic Conventions in Populations of Autonomous Agents Grounded in Continuous Worlds
Venue: arXiv cs.AI 2024
Year: 2024

This paper introduces a methodology through which a population of autonomous agents can establish a linguistic convention that enables them to refer to arbitrary entities that they observe in their environment. The linguistic convention emerges in a decentralised manner through local communicative interactions between pairs of agents drawn from the population. The convention consists of symbolic labels (word forms) associated to concept representations (word meanings) that are grounded in a continuous feature space. The concept representations of each agent are individually constructed yet compatible on a communicative level. Through a range of experiments, we show (i) that the methodology enables a population to converge on a communicatively effective, coherent and human-interpretable linguistic convention, (ii) that it is naturally robust against sensor defects in individual agents, (iii) that it can effectively deal with noisy observations, uncalibrated sensors and heteromorphic populations, (iv) that the method is adequate for continual learning, and (v) that the convention self-adapts to changes in the environment and communicative needs of the agents.
Battery-Swapping Multi-Agent System for Sustained Operation of Large Planetary Fleets
Venue: arXiv cs.RO 2024
Year: 2024

We propose a novel, heterogeneous multi-agent architecture that miniaturizes rovers by outsourcing power generation to a central hub. By delegating power generation and distribution functions to this hub, the size, weight, power, and cost (SWAP-C) per rover are reduced, enabling efficient fleet scaling. As these rovers conduct mission tasks around the terrain, the hub charges an array of replacement battery modules. When a rover requires charging, it returns to the hub to initiate an autonomous docking sequence and exits with a fully charged battery. This confers an advantage over direct charging methods, such as wireless or wired charging, by replenishing a rover in minutes as opposed to hours, increasing net rover uptime. This work shares an open-source platform developed to demonstrate battery swapping on unknown field terrain. We detail our design methodologies utilized for increasing system reliability, with a focus on optimization, robust mechanical design, and verification. Optimization of the system is discussed, including the design of passive guide rails through simulation-based optimization methods which increase the valid docking configuration space by 258%. The full system was evaluated during integrated testing, where an average servicing time of 98 seconds was achieved on surfaces with a gradient up to 10°. We conclude by briefly proposing flight considerations for advancing the system toward a space-ready design. In sum, this prototype represents a proof of concept for autonomous docking and battery transfer on field terrain, advancing its Technology Readiness Level (TRL) from 1 to 3.
Harnessing Orthogonality to Train Low-Rank Neural Networks
Venue: arXiv cs.LG 2024
Year: 2024

This study explores the learning dynamics of neural networks by analyzing the singular value decomposition (SVD) of their weights throughout training. Our investigation reveals that an orthogonal basis within each multidimensional weight's SVD representation stabilizes during training. Building upon this, we introduce Orthogonality-Informed Adaptive Low-Rank (OIALR) training, a novel training method exploiting the intrinsic orthogonality of neural networks. OIALR seamlessly integrates into existing training workflows with minimal accuracy loss, as demonstrated by benchmarking on various datasets and well-established network architectures. With appropriate hyperparameter tuning, OIALR can surpass conventional training setups, including those of state-of-the-art models.
Spatial Entity Resolution between Restaurant Locations and Transportation Destinations in Southeast Asia
Venue: arXiv cs.CL 2024
Year: 2024

As a tech company, Grab has expanded from transportation to food delivery, aiming to serve Southeast Asia with hyperlocalized applications. Information about places as transportation destinations can help to improve our knowledge about places as restaurants, so long as the spatial entity resolution problem between these datasets can be solved. In this project, we attempted to recognize identical place entities from databases of Points-of-Interest (POI) and GrabFood restaurants, using their spatial and textual attributes, i.e., latitude, longitude, place name, and street address. Distance metrics were calculated for these attributes and fed to tree-based classifiers. POI-restaurant matching was conducted separately for Singapore, Philippines, Indonesia, and Malaysia. Experimental estimates demonstrate that a matching POI can be found for over 35% of restaurants in these countries. As part of these estimates, test datasets were manually created, and RandomForest, AdaBoost, Gradient Boosting, and XGBoost perform well, with most accuracy, precision, and recall scores close to or higher than 90% for matched vs. unmatched classification. To the authors' knowledge, there are no previous published scientific papers devoted to matching of spatial entities for the Southeast Asia region.
The illusion of artificial inclusion
Venue: arXiv cs.CY 2024
Year: 2024

Human participants play a central role in the development of modern artificial intelligence (AI) technology, in psychological science, and in user research. Recent advances in generative AI have attracted growing interest to the possibility of replacing human participants in these domains with AI surrogates. We survey several such "substitution proposals" to better understand the arguments for and against substituting human participants with modern generative AI. Our scoping review indicates that the recent wave of these proposals is motivated by goals such as reducing the costs of research and development work and increasing the diversity of collected data. However, these proposals ignore and ultimately conflict with foundational values of work with human participants: representation, inclusion, and understanding. This paper critically examines the principles and goals underlying human participation to help chart out paths for future work that truly centers and empowers participants.
Immature Green Apple Detection and Sizing in Commercial Orchards using YOLOv8 and Shape Fitting Techniques
Venue: arXiv cs.CV 2024
Year: 2024

Detecting and estimating size of apples during the early stages of growth is crucial for predicting yield, pest management, and making informed decisions related to crop-load management, harvest and post-harvest logistics, and marketing. Traditional fruit size measurement methods are laborious and timeconsuming. This study employs the state-of-the-art YOLOv8 object detection and instance segmentation algorithm in conjunction with geometric shape fitting techniques on 3D point cloud data to accurately determine the size of immature green apples (or fruitlet) in a commercial orchard environment. The methodology utilized two RGB-D sensors: Intel RealSense D435i and Microsoft Azure Kinect DK. Notably, the YOLOv8 instance segmentation models exhibited proficiency in immature green apple detection, with the YOLOv8m-seg model achieving the highest AP@0.5 and AP@0.75 scores of 0.94 and 0.91, respectively. Using the ellipsoid fitting technique on images from the Azure Kinect, we achieved an RMSE of 2.35 mm, MAE of 1.66 mm, MAPE of 6.15 mm, and an R-squared value of 0.9 in estimating the size of apple fruitlets. Challenges such as partial occlusion caused some error in accurately delineating and sizing green apples using the YOLOv8-based segmentation technique, particularly in fruit clusters. In a comparison with 102 outdoor samples, the size estimation technique performed better on the images acquired with Microsoft Azure Kinect than the same with Intel Realsense D435i. This superiority is evident from the metrics: the RMSE values (2.35 mm for Azure Kinect vs. 9.65 mm for Realsense D435i), MAE values (1.66 mm for Azure Kinect vs. 7.8 mm for Realsense D435i), and the R-squared values (0.9 for Azure Kinect vs. 0.77 for Realsense D435i).
Synergizing Quality-Diversity with Descriptor-Conditioned Reinforcement Learning
Venue: arXiv cs.NE 2024
Year: 2024

A hallmark of intelligence is the ability to exhibit a wide range of effective behaviors. Inspired by this principle, Quality-Diversity algorithms, such as MAP-Elites, are evolutionary methods designed to generate a set of diverse and high-fitness solutions. However, as a genetic algorithm, MAP-Elites relies on random mutations, which can become inefficient in high-dimensional search spaces, thus limiting its scalability to more complex domains, such as learning to control agents directly from high-dimensional inputs. To address this limitation, advanced methods like PGA-MAP-Elites and DCG-MAP-Elites have been developed, which combine actor-critic techniques from Reinforcement Learning with MAP-Elites, significantly enhancing the performance and efficiency of Quality-Diversity algorithms in complex, high-dimensional tasks. While these methods have successfully leveraged the trained critic to guide more effective mutations, the potential of the trained actor remains underutilized in improving both the quality and diversity of the evolved population. In this work, we introduce DCRL-MAP-Elites, an extension of DCG-MAP-Elites that utilizes the descriptor-conditioned actor as a generative model to produce diverse solutions, which are then injected into the offspring batch at each generation. Additionally, we present an empirical analysis of the fitness and descriptor reproducibility of the solutions discovered by each algorithm. Finally, we present a second empirical analysis shedding light on the synergies between the different variations operators and explaining the performance improvement from PGA-MAP-Elites to DCRL-MAP-Elites.
SAiD: Speech-driven Blendshape Facial Animation with Diffusion
Venue: arXiv cs.CV 2024
Year: 2024

Speech-driven 3D facial animation is challenging due to the scarcity of large-scale visual-audio datasets despite extensive research. Most prior works, typically focused on learning regression models on a small dataset using the method of least squares, encounter difficulties generating diverse lip movements from speech and require substantial effort in refining the generated outputs. To address these issues, we propose a speech-driven 3D facial animation with a diffusion model (SAiD), a lightweight Transformer-based U-Net with a cross-modality alignment bias between audio and visual to enhance lip synchronization. Moreover, we introduce BlendVOCA, a benchmark dataset of pairs of speech audio and parameters of a blendshape facial model, to address the scarcity of public resources. Our experimental results demonstrate that the proposed approach achieves comparable or superior performance in lip synchronization to baselines, ensures more diverse lip movements, and streamlines the animation editing process.
Generative AI and Its Educational Implications
Venue: arXiv cs.CY 2024
Year: 2024

We discuss the implications of generative AI on education across four critical sections: the historical development of AI in education, its contemporary applications in learning, societal repercussions, and strategic recommendations for researchers. We propose ways in which generative AI can transform the educational landscape, primarily via its ability to conduct assessment of complex cognitive performances and create personalized content. We also address the challenges of effective educational tool deployment, data bias, design transparency, and accurate output verification. Acknowledging the societal impact, we emphasize the need for updating curricula, redefining communicative trust, and adjusting to transformed social norms. We end by outlining the ways in which educational stakeholders can actively engage with generative AI, develop fluency with its capacities and limitations, and apply these insights to steer educational practices in a rapidly advancing digital landscape.
DeepSpeed-FastGen: High-throughput Text Generation for LLMs via MII and DeepSpeed-Inference
Venue: arXiv cs.PF 2024
Year: 2024

The deployment and scaling of large language models (LLMs) have become critical as they permeate various applications, demanding high-throughput and low-latency serving systems. Existing frameworks struggle to balance these requirements, especially for workloads with long prompts. This paper introduces DeepSpeed-FastGen, a system that employs Dynamic SplitFuse, a novel prompt and generation composition strategy, to deliver up to 2.3x higher effective throughput, 2x lower latency on average, and up to 3.7x lower (token-level) tail latency, compared to state-of-the-art systems like vLLM. We leverage a synergistic combination of DeepSpeed-MII and DeepSpeed-Inference to provide an efficient and easy-to-use serving system for LLMs. DeepSpeed-FastGen's advanced implementation supports a range of models and offers both non-persistent and persistent deployment options, catering to diverse user scenarios from interactive sessions to long-running applications. We present a detailed benchmarking methodology, analyze the performance through latency-throughput curves, and investigate scalability via load balancing. Our evaluations demonstrate substantial improvements in throughput and latency across various models and hardware configurations. We discuss our roadmap for future enhancements, including broader model support and new hardware backends. The DeepSpeed-FastGen code is readily available for community engagement and contribution.
Selecting Subsets of Source Data for Transfer Learning with Applications in Metal Additive Manufacturing
Venue: arXiv cs.LG 2024
Year: 2024

Considering data insufficiency in metal additive manufacturing (AM), transfer learning (TL) has been adopted to extract knowledge from source domains (e.g., completed printings) to improve the modeling performance in target domains (e.g., new printings). Current applications use all accessible source data directly in TL with no regard to the similarity between source and target data. This paper proposes a systematic method to find appropriate subsets of source data based on similarities between the source and target datasets for a given set of limited target domain data. Such similarity is characterized by the spatial and model distance metrics. A Pareto frontier-based source data selection method is developed, where the source data located on the Pareto frontier defined by two similarity distance metrics are selected iteratively. The method is integrated into an instance-based TL method (decision tree regression model) and a model-based TL method (fine-tuned artificial neural network). Both models are then tested on several regression tasks in metal AM. Comparison results demonstrate that 1) the source data selection method is general and supports integration with various TL methods and distance metrics, 2) compared with using all source data, the proposed method can find a small subset of source data from the same domain with better TL performance in metal AM regression tasks involving different processes and machines, and 3) when multiple source domains exist, the source data selection method could find the subset from one source domain to obtain comparable or better TL performance than the model constructed using data from all source domains.
AgentMixer: Multi-Agent Correlated Policy Factorization
Venue: arXiv cs.MA 2024
Year: 2024

In multi-agent reinforcement learning, centralized training with decentralized execution (CTDE) methods typically assume that agents make decisions based on their local observations independently, which may not lead to a correlated joint policy with coordination. Coordination can be explicitly encouraged during training and individual policies can be trained to imitate the correlated joint policy. However, this may lead to an \textit{asymmetric learning failure} due to the observation mismatch between the joint and individual policies. Inspired by the concept of correlated equilibrium, we introduce a \textit{strategy modification} called AgentMixer that allows agents to correlate their policies. AgentMixer combines individual partially observable policies into a joint fully observable policy non-linearly. To enable decentralized execution, we introduce \textit{Individual-Global-Consistency} to guarantee mode consistency during joint training of the centralized and decentralized policies and prove that AgentMixer converges to an $ε$-approximate Correlated Equilibrium. In the Multi-Agent MuJoCo, SMAC-v2, Matrix Game, and Predator-Prey benchmarks, AgentMixer outperforms or matches state-of-the-art methods.
Segment Anything Model Can Not Segment Anything: Assessing AI Foundation Model's Generalizability in Permafrost Mapping
Venue: arXiv cs.CV 2024
Year: 2024

This paper assesses trending AI foundation models, especially emerging computer vision foundation models and their performance in natural landscape feature segmentation. While the term foundation model has quickly garnered interest from the geospatial domain, its definition remains vague. Hence, this paper will first introduce AI foundation models and their defining characteristics. Built upon the tremendous success achieved by Large Language Models (LLMs) as the foundation models for language tasks, this paper discusses the challenges of building foundation models for geospatial artificial intelligence (GeoAI) vision tasks. To evaluate the performance of large AI vision models, especially Meta's Segment Anything Model (SAM), we implemented different instance segmentation pipelines that minimize the changes to SAM to leverage its power as a foundation model. A series of prompt strategies was developed to test SAM's performance regarding its theoretical upper bound of predictive accuracy, zero-shot performance, and domain adaptability through fine-tuning. The analysis used two permafrost feature datasets, ice-wedge polygons and retrogressive thaw slumps because (1) these landform features are more challenging to segment than manmade features due to their complicated formation mechanisms, diverse forms, and vague boundaries; (2) their presence and changes are important indicators for Arctic warming and climate change. The results show that although promising, SAM still has room for improvement to support AI-augmented terrain mapping. The spatial and domain generalizability of this finding is further validated using a more general dataset EuroCrop for agricultural field mapping. Finally, we discuss future research directions that strengthen SAM's applicability in challenging geospatial domains.
Moral Values Underpinning COVID-19 Online Communication Patterns
Venue: arXiv cs.SI 2024
Year: 2024

The COVID-19 pandemic has triggered profound societal changes, extending beyond its health impacts to the moralization of behaviors. Leveraging insights from moral psychology, this study delves into the moral fabric shaping online discussions surrounding COVID-19 over a span of nearly two years. Our investigation identifies four distinct user groups characterized by differences in morality, political ideology, and communication styles. We underscore the intricate relationship between moral differences and political ideologies, revealing a nuanced picture where moral orientations do not rigidly separate users politically. Furthermore, we uncover patterns of moral homophily within the social network, highlighting the existence of one potential moral echo chamber. Analyzing the moral themes embedded in messages, we observe that messages featuring moral foundations not typically favored by their authors, as well as those incorporating multiple moral foundations, resonate more effectively with out-group members. This research contributes valuable insights into the complex interplay between moral foundations, communication dynamics, and network structures on Twitter.
Link Me Baby One More Time: Social Music Discovery on Spotify
Venue: arXiv cs.SI 2024
Year: 2024

We explore the social and contextual factors that influence the outcome of person-to-person music recommendations and discovery. Specifically, we use data from Spotify to investigate how a link sent from one user to another results in the receiver engaging with the music of the shared artist. We consider several factors that may influence this process, such as the strength of the sender-receiver relationship, the user's role in the Spotify social network, their music social cohesion, and how similar the new artist is to the receiver's taste. We find that the receiver of a link is more likely to engage with a new artist when (1) they have similar music taste to the sender and the shared track is a good fit for their taste, (2) they have a stronger and more intimate tie with the sender, and (3) the shared artist is popular amongst the receiver's connections. Finally, we use these findings to build a Random Forest classifier to predict whether a shared music track will result in the receiver's engagement with the shared artist. This model elucidates which type of social and contextual features are most predictive, although peak performance is achieved when a diverse set of features are included. These findings provide new insights into the multifaceted mechanisms underpinning the interplay between music discovery and social processes.
Stochastic Subnetwork Annealing: A Regularization Technique for Fine Tuning Pruned Subnetworks
Venue: arXiv cs.LG 2024
Year: 2024

Pruning methods have recently grown in popularity as an effective way to reduce the size and computational complexity of deep neural networks. Large numbers of parameters can be removed from trained models with little discernible loss in accuracy after a small number of continued training epochs. However, pruning too many parameters at once often causes an initial steep drop in accuracy which can undermine convergence quality. Iterative pruning approaches mitigate this by gradually removing a small number of parameters over multiple epochs. However, this can still lead to subnetworks that overfit local regions of the loss landscape. We introduce a novel and effective approach to tuning subnetworks through a regularization technique we call Stochastic Subnetwork Annealing. Instead of removing parameters in a discrete manner, we instead represent subnetworks with stochastic masks where each parameter has a probabilistic chance of being included or excluded on any given forward pass. We anneal these probabilities over time such that subnetwork structure slowly evolves as mask values become more deterministic, allowing for a smoother and more robust optimization of subnetworks at high levels of sparsity.
Exploring Content-Based and Meta-Data Analysis for Detecting Fake News Infodemic: A case study on COVID-19
Venue: arXiv cs.IR 2024
Year: 2024

The coronavirus pandemic (COVID-19) is probably the most disruptive global health disaster in recent history. It negatively impacted the whole world and virtually brought the global economy to a standstill. However, as the virus was spreading, infecting people and claiming thousands of lives so was the spread and propagation of fake news, misinformation and disinformation about the event. These included the spread of unconfirmed health advice and remedies on social media. In this paper, false information about the pandemic is identified using a content-based approach and metadata curated from messages posted to online social networks. A content-based approach combined with metadata as well as an initial feature analysis is used and then several supervised learning models are tested for identifying and predicting misleading posts. Our approach shows up to 93% accuracy in the detection of fake news related posts about the COVID-19 pandemic